In this thesis, we consider the problem of estimating position and orientation (6D pose) using inertial sensors (accelerometers and gyroscopes). Inertial sensors provide information about the change in position and orientation at high sampling rates. However, they suffer from integration drift and hence need to be supplemented with additional sensors. To combine information from the inertial se...

Virtual avatar control is an important technology in computer games and virtual reality. However, the traditional experience requirement to the interactive entertainment. This paper proposes an intuitive interaction approach which allows the user to control the virtual character by his body performance. The user s behavior is captured by measuring the accelerometer and magnetometer from the mot...

Pedestrian navigation systems (PNS) using foot-mounted MEMS inertial sensors use zero-velocity updates (ZUPTs) to reduce drift in navigation solutions and estimate inertial sensor errors. However, it is well known that ZUPTs cannot reduce all errors, especially as heading error is not observable. Hence, the position estimates tend to drift and even cyclic ZUPTs are applied in updated steps of t...

The increasing popularity of sensor network has spawned a wide range of platforms and frameworks for sensor network development. While in theory nodes based on different frameworks should provide radio stack compatibility, in practice this is rarely the case. We explore this problem by providing a case study and introduce TinySPOTComm, a customized radio stack for the Sun SPOT platform which al...

We present a framework called Semantic Streams that allows users to pose declarative queries over semantic interpretations of sensor data. For example, instead of querying raw sensor data, the user can query vehicle speeds; the system decides which sensor data and which operations to use to infer the vehicle speeds. The user can also place constraints on values such as the confidence with which...

Tracking and display of human limb segment motions has been the topic of much research and development over many years for purposes as varied as basic human physiological studies, physical rehabilitation, sports training, and the construction of anthropomorphic robots. More recently, a new impetus has been given to such work by the desire to produce a whole body human/computer interface system,...